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Title: Computing immobilizing grasps of polygonal parts

Abstract

The authors present the first algorithms for computing all placements of (frictionless) point fingers that put a polygonal part in form closure and all placements of point fingers that achieve second-order immobility of a polygonal part. The algorithms run in O(n{sup 2+{var_epsilon}}+K) and O(n{sup 2}log{sup 2}n+K) time in the case of form closure and second-order immobility, respectively, where n is the number of vertices of the polygon, K is the description size of the resulting set of finger placements, and {var_epsilon} is an arbitrarily small constant. The basic of the algorithm is a translation of the problem into geometric searching problems, which are solved using efficient data structures. The results can be extended to the problem of computing all placements of a line and two points that put a polygonal part in form closure. The resulting algorithm runs in O(n{sup 2}log{sup 2} n+K) time, where K is again the description size of the output.

Authors:
; ;
Publication Date:
Research Org.:
Utrecht Univ. (NL)
OSTI Identifier:
20030407
Alternate Identifier(s):
OSTI ID: 20030407
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 19; Journal Issue: 5; Other Information: PBD: May 2000; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; ROBOTS; INDUSTRIAL PLANTS; ALGORITHMS; SHAPE; MOTION; MATERIALS HANDLING

Citation Formats

Stappen, A.F. van der, Wentink, C., and Overmars, M.H. Computing immobilizing grasps of polygonal parts. United States: N. p., 2000. Web. doi:10.1177/02783640022066978.
Stappen, A.F. van der, Wentink, C., & Overmars, M.H. Computing immobilizing grasps of polygonal parts. United States. doi:10.1177/02783640022066978.
Stappen, A.F. van der, Wentink, C., and Overmars, M.H. Mon . "Computing immobilizing grasps of polygonal parts". United States. doi:10.1177/02783640022066978.
@article{osti_20030407,
title = {Computing immobilizing grasps of polygonal parts},
author = {Stappen, A.F. van der and Wentink, C. and Overmars, M.H.},
abstractNote = {The authors present the first algorithms for computing all placements of (frictionless) point fingers that put a polygonal part in form closure and all placements of point fingers that achieve second-order immobility of a polygonal part. The algorithms run in O(n{sup 2+{var_epsilon}}+K) and O(n{sup 2}log{sup 2}n+K) time in the case of form closure and second-order immobility, respectively, where n is the number of vertices of the polygon, K is the description size of the resulting set of finger placements, and {var_epsilon} is an arbitrarily small constant. The basic of the algorithm is a translation of the problem into geometric searching problems, which are solved using efficient data structures. The results can be extended to the problem of computing all placements of a line and two points that put a polygonal part in form closure. The resulting algorithm runs in O(n{sup 2}log{sup 2} n+K) time, where K is again the description size of the output.},
doi = {10.1177/02783640022066978},
journal = {International Journal of Robotics Research},
issn = {0278-3649},
number = 5,
volume = 19,
place = {United States},
year = {2000},
month = {5}
}